This paper focuses on the establishment of simple model of parafoil system, active modeling including external disturbance estimation, controller design based on the energy feedback, and landing strategy. The main research contents are as follows: Firstly, on the basis of the traditional unpowered parafoil system model, the six-degree-of-freedom nonlinear initial model of the powered parafoil system is established by adding the engine thrust on the payload. For the initial model obtained, the system correlation conclusions applicable to different flight states are obtained through the analysis of experimental data of our specific platform and used for the simplification of the initial model to obtain the system’s nominal model. Then, for the obtained system nominal model, the system’s model drift, unmodeled factors and external disturbance are regarded as the process noise of the system, and the active model of the system is established through the real-time model error estimation. For linear and nonlinear nominal models, the system state and model error are estimated in real time through linear Kalman filter and extended Kalman filter, respectively. Thirdly, for the obtained system model, the control method based on energy feedback is proposed through the analysis of the system state, input and system energy. Based on this method, the forward guidance strategy is adopted to realize the system's tracking of the desired path. In the system characteristics represented by the linear model, the system will maintain the current state of motion in the absence of system input and external disturbance. For the input of the system, the thrust of the engine can directly affect the forward speed and height of the system, and thus change the energy of the system. By reducing the forward velocity and increasing the height of the system, the symmetric brake input can transform the kinetic energy and potential energy of the system and keep the total energy of the system unchanged. The assymmetic brake input directly changes the heading angle of the system and has no significant effect on the forward speed and height of the system. A single-channel PID controller is utilized to achieve the system height control and a controller based on energy feedback to achieve the system energy control, so as to achieve the system forward speed regulation. The simulation results and the comparison with the normal PID controller based on two independent channels verify the rationality and effectiveness of the energy-based controller. By taking the point on the expected trajectory line in front of the aircraft as the current flight target, the forward guidance strategy can effectively track the multilateral flight trajectory. Finally, based on Bezier curves, the obtaining problem of desired trajectory is transferred into an optimization problem by introducing the environmental information, system dynamics constraint and landing error into the cost function. In this way, a feasible trajectory can be derived while taking account of system dynamics constraints, obstacles avoidance and landing accuracy. Flight tests have been carried out to verify the effectiveness of the guidance method.